/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint32_t tick = 0;

uint8_t rxData[9] = {0};
uint8_t txData[9] = {0};

uint8_t canTxData[8] = {0};
uint8_t canRxData[8] = {0};
static CAN_RxHeaderTypeDef rxHeader;
uint32_t pTxMailbox;

struct UartCommData{
    uint32_t tick;
    float value;
};

struct CANCommData
{
    uint32_t tick;
    float value1;
    uint8_t value2;
};

struct UartCommData uartTransmitDate;
struct UartCommData uartReceiveDate;

struct CANCommData canReceiveData;
struct CANCommData canTransmitData;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void UARTEncode(uint32_t tick, float value){
    txData[0] = 0xAA;
    txData[1] = 0xBB;
    txData[2] = 0xCC;
    
    txData[3] = (tick >> 24) & 0xFF;
    txData[4] = (tick >> 16) & 0xFF;
    txData[5] = (tick >> 8) & 0xFF;
    txData[6] = tick & 0xFF;
    
    int16_t int_value = (int16_t)value + 3000;
    txData[7] = (int_value >> 8) & 0xFF;
    txData[8] = int_value & 0xFF;
}

void UARTDecode(uint8_t *data){
    if (data[0] != 0xAA || data[1] != 0xBB || data[2] != 0xCC) {
        return;
    }
   
    uartReceiveDate.tick = ((uint32_t)data[3] << 24) |
                          ((uint32_t)data[4] << 16) |
                          ((uint32_t)data[5] << 8) |
                          data[6];
    
    int16_t raw_value = (int16_t)((data[7] << 8) | data[8]);
    uartReceiveDate.value = (float)raw_value - 3000;
      
}

void CANEncode(uint32_t tick, float value){
   
    canTxData[0] = (tick >> 24) & 0xFF;
    canTxData[1] = (tick >> 16) & 0xFF;
    canTxData[2] = (tick >> 8) & 0xFF;
    canTxData[3] = tick & 0xFF;
    
    int16_t int_value = (int16_t)value + 3000;
    canTxData[4] = (int_value >> 8) & 0xFF;
    canTxData[5] = int_value & 0xFF;
}

void CANDecode(uint8_t *data)
{
  canReceiveData.tick = ((uint32_t)data[0] << 24) |
                        ((uint32_t)data[1] << 16) |
                        ((uint32_t)data[2] << 8) |
                        data[3];
  
  int16_t raw_value = (int16_t)((data[4] << 8) | data[5]);
  canReceiveData.value1 = (float)raw_value - 3000;      
}

void CAN_Send_Msg(CAN_HandleTypeDef *hcan, uint8_t *msg, uint32_t id,
                  uint8_t len) {
  CAN_TxHeaderTypeDef TxMessageHeader = {0};
  TxMessageHeader.StdId = id;
  TxMessageHeader.IDE = CAN_ID_STD;
  TxMessageHeader.RTR = CAN_RTR_DATA;
  TxMessageHeader.DLC = len;
  if (HAL_CAN_AddTxMessage(hcan, &TxMessageHeader, msg, &pTxMailbox) !=
      HAL_OK) {
  }
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_TIM_Base_Start_IT(&htim3);
  HAL_UART_Receive_DMA(&huart2, rxData, 9);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

    if (tick % 100 == 0) 
    {
      UARTEncode(uartTransmitDate.tick, uartTransmitDate.value);
      CANEncode(canTransmitData.tick, canTransmitData.value1);

      HAL_UART_Transmit_DMA(&huart1, txData, 9);
      CAN_Send_Msg(&hcan, canTxData, 0x100, 8);
    }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  if(htim == &htim3)  
  {
    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13); //任务1

    uartTransmitDate.tick = tick;
    uartTransmitDate.value = sin((float)tick / 1000) * 1000;

    canTransmitData.tick = tick;
    canTransmitData.value1 = sin((float)tick / 1000) * 1000;

    tick++;
  }
}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  if (huart == &huart2)
  {
    UARTDecode(rxData);
    HAL_UART_Receive_DMA(&huart2, rxData, 9);
  }
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, canRxData) == HAL_OK)
  {
    if (rxHeader.StdId == 0x100)
    { 
      CANDecode(canRxData);
    }
  }
  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
